基本通讯框架构建

.gitignore

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+*.pro.*
+*.bak
+*.asv
+build/
+*~
+

FlightTap.pro

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+QT       += core gui
+
+greaterThan(QT_MAJOR_VERSION, 4): QT += widgets core network serialport
+
+
+CONFIG += c++17
+
+# You can make your code fail to compile if it uses deprecated APIs.
+# In order to do so, uncomment the following line.
+#DEFINES += QT_DISABLE_DEPRECATED_BEFORE=0x060000    # disables all the APIs deprecated before Qt 6.0.0
+
+# 头文件搜索路径
+INCLUDEPATH += \
+    $$PWD/src \
+    $$PWD/src/core \
+    $$PWD/src/ui
+
+SOURCES += \
+    src/core/Injector.cpp \
+    src/core/MavlinkTap.cpp \
+    src/core/ProxyConnection.cpp \
+    src/core/ProxyService.cpp \
+    src/core/SerialEndpoint.cpp \
+    src/core/UdpHubEndpoint.cpp \
+    src/main.cpp \
+    src/ui/mainwindow.cpp
+
+HEADERS += \
+    src/core/Endpoint.hpp \
+    src/core/Injector.hpp \
+    src/core/MavlinkTap.hpp \
+    src/core/ProxyConnection.hpp \
+    src/core/ProxyService.hpp \
+    src/core/SerialEndpoint.hpp \
+    src/core/UdpHubEndpoint.hpp \
+    src/ui/mainwindow.h
+
+FORMS += \
+    src/ui/mainwindow.ui
+
+# Default rules for deployment.
+qnx: target.path = /tmp/$${TARGET}/bin
+else: unix:!android: target.path = /opt/$${TARGET}/bin
+!isEmpty(target.path): INSTALLS += target

src/core/Endpoint.hpp

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+#pragma once
+#include <QObject>
+#include <QByteArray>
+#include <functional>
+
+class Endpoint : public QObject {
+    Q_OBJECT
+public:
+    using RxHandler = std::function<void(const QByteArray&)>;
+    explicit Endpoint(QObject* parent = nullptr) : QObject(parent) {}
+    virtual ~Endpoint() = default;
+
+    virtual bool open() = 0;
+    virtual void close() = 0;
+    virtual bool isOpen() const = 0;
+    virtual qint64 writeBytes(const QByteArray& data) = 0;
+
+    void setRxHandler(RxHandler cb) { rx_ = std::move(cb); }
+
+protected:
+    void emitRx(const QByteArray& data) { if (rx_) rx_(data); }
+
+private:
+    RxHandler rx_;
+};

src/core/Injector.cpp

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+#include "Injector.hpp"
+
+Injector::Injector(Endpoint* target, uint8_t sysid, uint8_t compid, QObject* parent)
+    : QObject(parent), target_(target), sysid_(sysid), compid_(compid) {}
+
+bool Injector::sendHeartbeat(uint8_t type, uint8_t autopilot, uint8_t base_mode,
+                             uint32_t custom_mode, uint8_t system_status) {
+    if (!target_ || !target_->isOpen()) return false;
+    mavlink_message_t msg;
+    mavlink_msg_heartbeat_pack(sysid_, compid_, &msg, type, autopilot, base_mode, custom_mode, system_status);
+    uint8_t buf[MAVLINK_MAX_PACKET_LEN];
+    const int len = mavlink_msg_to_send_buffer(buf, &msg);
+    return target_->writeBytes(QByteArray(reinterpret_cast<const char*>(buf), len)) == len;
+}

src/core/Injector.hpp

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+#pragma once
+#include <QObject>
+#include "Endpoint.hpp"
+extern "C" {
+#include "mavlink/common/mavlink.h"
+}
+
+class Injector : public QObject {
+    Q_OBJECT
+public:
+    Injector(Endpoint* target, uint8_t sysid, uint8_t compid, QObject* parent = nullptr);
+    bool sendHeartbeat(uint8_t type, uint8_t autopilot, uint8_t base_mode,
+                       uint32_t custom_mode, uint8_t system_status);
+
+private:
+    Endpoint* target_;
+    uint8_t sysid_;
+    uint8_t compid_;
+};

src/core/MavlinkTap.cpp

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+#include "MavlinkTap.hpp"
+#include <cstring>
+
+MavlinkTap::MavlinkTap(QObject* parent) : QObject(parent) {
+    std::memset(&status_, 0, sizeof(status_));
+}
+
+void MavlinkTap::feed(const QByteArray& data) {
+    QMutexLocker locker(&mtx_);
+    mavlink_message_t msg;
+    for (unsigned char c : data) {
+        if (mavlink_parse_char(MAVLINK_COMM_0, c, &msg, &status_)) {
+            emit messageParsed(msg);
+        }
+    }
+}

src/core/MavlinkTap.hpp

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+#pragma once
+#include <QObject>
+#include <QByteArray>
+#include <QMutex>
+
+extern "C" {
+#include "mavlink/common/mavlink.h"
+}
+
+class MavlinkTap : public QObject {
+    Q_OBJECT
+public:
+    explicit MavlinkTap(QObject* parent = nullptr);
+    void feed(const QByteArray& data);  // 喂入原始字节（任意方向）
+
+signals:
+    void messageParsed(const mavlink_message_t& msg);
+
+private:
+    QMutex mtx_;
+    mavlink_status_t status_;
+};

src/core/ProxyConnection.cpp

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+#include "ProxyConnection.hpp"
+#include <QDebug>
+
+ProxyConnection::ProxyConnection(Endpoint* a, Endpoint* b, MavlinkTap* tap, QObject* parent)
+    : QObject(parent), A_(a), B_(b), tap_(tap) {}
+
+bool ProxyConnection::start() {
+    if (!A_ || !B_) return false;
+    if (!A_->open() || !B_->open()) {
+        qWarning() << "ProxyConnection: failed to open endpoints";
+        return false;
+    }
+    running_ = true;
+
+    A_->setRxHandler([this](const QByteArray& data){
+        if (!running_) return;
+        if (tap_) tap_->feed(data);       // 仅监控解析
+        auto n = B_->writeBytes(data);    // 原样转发
+        emit bytesForwardedAB(n);
+    });
+
+    B_->setRxHandler([this](const QByteArray& data){
+        if (!running_) return;
+        if (tap_) tap_->feed(data);
+        auto n = A_->writeBytes(data);
+        emit bytesForwardedBA(n);
+    });
+
+    return true;
+}
+
+void ProxyConnection::stop() {
+    running_ = false;
+    if (A_->isOpen()) A_->close();
+    if (B_->isOpen()) B_->close();
+}

src/core/ProxyConnection.hpp

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+#pragma once
+#include <QObject>
+#include "Endpoint.hpp"
+#include "MavlinkTap.hpp"
+
+class ProxyConnection : public QObject {
+    Q_OBJECT
+public:
+    ProxyConnection(Endpoint* a, Endpoint* b, MavlinkTap* tap = nullptr, QObject* parent = nullptr);
+    ~ProxyConnection() override = default;
+
+    bool start();
+    void stop();
+
+signals:
+    void bytesForwardedAB(qint64 n);
+    void bytesForwardedBA(qint64 n);
+
+private:
+    Endpoint* A_;
+    Endpoint* B_;
+    MavlinkTap* tap_;
+    bool running_ = false;
+};

src/core/ProxyService.cpp

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+#include "ProxyService.hpp"
+#include <QMetaObject>
+#include <QDebug>
+
+ProxyService::ProxyService(const QString& serialPort, qint32 baudRate, quint16 gcsListenPort, QObject* parent)
+    : QObject(parent),
+    serialPort_(serialPort),
+    baudRate_(baudRate),
+    gcsPort_(gcsListenPort)
+{
+    // 预创建对象（仍在主线程），随后统一迁移到IO线程
+    serial_   = new SerialEndpoint(serialPort_, baudRate_);
+    udpHub_   = new UdpHubEndpoint(gcsPort_);
+    tap_      = new MavlinkTap;
+    proxy_    = new ProxyConnection(serial_, udpHub_, tap_);
+    injector_ = new Injector(udpHub_, /*sysid*/245, /*compid*/190);
+
+    // 迁移到 IO 线程（这里只是“归属”变更，不做 open/bind）
+    serial_->moveToThread(&ioThread_);
+    udpHub_->moveToThread(&ioThread_);
+    tap_->moveToThread(&ioThread_);
+    proxy_->moveToThread(&ioThread_);
+    injector_->moveToThread(&ioThread_);
+
+    // 将 IO 线程产生的信号桥接到主线程
+    connect(tap_,    &MavlinkTap::messageParsed, this, &ProxyService::messageParsed, Qt::QueuedConnection);
+    connect(udpHub_, &UdpHubEndpoint::peerAdded, this, &ProxyService::peerAdded,     Qt::QueuedConnection);
+    connect(udpHub_, &UdpHubEndpoint::peerRemoved,this,&ProxyService::peerRemoved,   Qt::QueuedConnection);
+    connect(proxy_,  &ProxyConnection::bytesForwardedAB, this, &ProxyService::bytesForwardedAB, Qt::QueuedConnection);
+    connect(proxy_,  &ProxyConnection::bytesForwardedBA, this, &ProxyService::bytesForwardedBA, Qt::QueuedConnection);
+
+    // 线程结束时通知
+    connect(&ioThread_, &QThread::finished, this, [this](){
+        emit stopped();
+    });
+
+    // 线程启动时在 IO 线程执行 ioStart_
+    connect(&ioThread_, &QThread::started, this, &ProxyService::ioStart_, Qt::QueuedConnection);
+}
+
+ProxyService::~ProxyService() {
+    stop();
+    ioThread_.wait();
+    // 对象都在IO线程归属；此时线程已退出，可安全删除
+    delete serial_;
+    delete udpHub_;
+    delete tap_;
+    delete proxy_;
+    delete injector_;
+}
+
+void ProxyService::start() {
+    if (running_) return;
+    ioThread_.start();
+}
+
+void ProxyService::stop() {
+    if (!running_) return;
+    // 在 IO 线程里做关闭
+    QMetaObject::invokeMethod(this, "ioStop_", Qt::QueuedConnection);
+    ioThread_.quit();
+}
+
+void ProxyService::setPeerIdleTimeoutMs(int ms) {
+    peerIdleMs_ = ms;
+    if (udpHub_) {
+        QMetaObject::invokeMethod(udpHub_, [this](){
+            udpHub_->setPeerIdleTimeoutMs(peerIdleMs_);
+        }, Qt::QueuedConnection);
+    }
+}
+
+void ProxyService::addStaticPeer(const QHostAddress& addr, quint16 port) {
+    if (udpHub_) {
+        QMetaObject::invokeMethod(udpHub_, [this, addr, port](){
+            udpHub_->addStaticPeer(addr, port);
+        }, Qt::QueuedConnection);
+    }
+}
+
+void ProxyService::sendHeartbeat(uint8_t type, uint8_t autopilot,
+                                 uint8_t base_mode, uint32_t custom_mode,
+                                 uint8_t system_status) {
+    if (injector_) {
+        QMetaObject::invokeMethod(injector_, [=](){
+            injector_->sendHeartbeat(type, autopilot, base_mode, custom_mode, system_status);
+        }, Qt::QueuedConnection);
+    }
+}
+
+// ---------------- IO 线程内的实际开启/关闭 ----------------
+
+void ProxyService::ioStart_() {
+    // 应用 UDP Hub 的超时配置
+    udpHub_->setPeerIdleTimeoutMs(peerIdleMs_);
+
+    // 在 IO 线程里启动透明转发（内部会 open 串口/绑定 UDP）
+    const bool ok = proxy_->start();
+    running_ = ok;
+    if (!ok) {
+        qCritical() << "[ProxyService] start failed (serial or udp bind open failed)";
+        emit started(false);
+        return;
+    }
+
+    // 可选：给所有 GCS 发送一个心跳，证明代理在线（可注释）
+    injector_->sendHeartbeat(6 /*MAV_TYPE_GCS*/, 8 /*MAV_AUTOPILOT_INVALID*/,
+                             0 /*base_mode*/, 0 /*custom*/, 4 /*system_status:active*/);
+
+    emit started(true);
+}
+
+void ProxyService::ioStop_() {
+    if (!running_) return;
+    proxy_->stop();  // 内部会 close 串口与 UDP
+    running_ = false;
+}

src/core/ProxyService.hpp

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+#pragma once
+#include <QObject>
+#include <QThread>
+#include <QHostAddress>
+#include <QString>
+
+#include "SerialEndpoint.hpp"
+#include "UdpHubEndpoint.hpp"
+#include "ProxyConnection.hpp"
+#include "MavlinkTap.hpp"
+#include "Injector.hpp"
+
+class ProxyService : public QObject {
+    Q_OBJECT
+public:
+    // 构造：只在主线程调用；不做IO操作
+    explicit ProxyService(const QString& serialPort,
+                          qint32 baudRate,
+                          quint16 gcsListenPort,
+                          QObject* parent = nullptr);
+    ~ProxyService() override;
+
+    // 在调用线程（通常主线程）触发启动/停止；真正的开启关闭在IO线程里执行
+    Q_INVOKABLE void start();
+    Q_INVOKABLE void stop();
+
+    // 运行时控制（跨线程排队到IO线程）
+    Q_INVOKABLE void setPeerIdleTimeoutMs(int ms);
+    Q_INVOKABLE void addStaticPeer(const QHostAddress& addr, quint16 port);
+
+    // 可选：注入一个心跳（排队到IO线程执行）
+    Q_INVOKABLE void sendHeartbeat(uint8_t type, uint8_t autopilot,
+                                   uint8_t base_mode, uint32_t custom_mode,
+                                   uint8_t system_status);
+
+signals:
+    // 生命周期
+    void started(bool ok);
+    void stopped();
+
+    // 观察数据
+    void messageParsed(const mavlink_message_t& msg);     // 从IO线程跨到主线程（Queued）
+    void bytesForwardedAB(qint64 n);                      // drone->GCS
+    void bytesForwardedBA(qint64 n);                      // GCS->drone
+
+    // GCS 动态
+    void peerAdded(const QHostAddress& addr, quint16 port);
+    void peerRemoved(const QHostAddress& addr, quint16 port);
+
+private slots:
+    // 这些槽运行在 IO 线程中
+    void ioStart_();   // 打开端口/绑定socket/建立转发
+    void ioStop_();    // 停止转发/关闭设备
+
+private:
+    // 仅在主线程访问这些裸指针的“拥有关系”；实际方法调用都在IO线程中
+    QThread ioThread_;
+    SerialEndpoint*  serial_   = nullptr;
+    UdpHubEndpoint*  udpHub_   = nullptr;
+    MavlinkTap*      tap_      = nullptr;
+    ProxyConnection* proxy_    = nullptr;
+    Injector*        injector_ = nullptr;
+
+    // 构造参数
+    const QString serialPort_;
+    const qint32  baudRate_;
+    const quint16 gcsPort_;
+
+    // 配置参数（通过Queued修改）
+    int peerIdleMs_ = 30'000;
+    bool running_   = false;
+};

src/core/SerialEndpoint.cpp

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+#include "SerialEndpoint.hpp"
+#include <QDebug>
+
+SerialEndpoint::SerialEndpoint(const QString& portName, qint32 baudRate, QObject* parent)
+    : Endpoint(parent)
+{
+    port_.setPortName(portName);
+    port_.setBaudRate(baudRate);
+    port_.setDataBits(QSerialPort::Data8);
+    port_.setParity(QSerialPort::NoParity);
+    port_.setStopBits(QSerialPort::OneStop);
+    port_.setFlowControl(QSerialPort::NoFlowControl);
+
+    QObject::connect(&port_, &QSerialPort::readyRead, this, [this](){
+        QByteArray data = port_.readAll();
+        emitRx(data);
+    });
+}
+
+bool SerialEndpoint::open() {
+    if (port_.isOpen()) return true;
+    bool ok = port_.open(QIODevice::ReadWrite);
+    if (!ok) qWarning() << "SerialEndpoint: failed to open" << port_.portName();
+    return ok;
+}
+
+void SerialEndpoint::close() {
+    if (port_.isOpen()) port_.close();
+}
+
+qint64 SerialEndpoint::writeBytes(const QByteArray& data) {
+    if (!port_.isOpen()) return -1;
+    qint64 n = port_.write(data);
+    port_.waitForBytesWritten(200);
+    return n;
+}

src/core/SerialEndpoint.hpp

@@ -0,0 +1,18 @@
+#pragma once
+#include "Endpoint.hpp"
+#include <QSerialPort>
+
+class SerialEndpoint : public Endpoint {
+    Q_OBJECT
+public:
+    SerialEndpoint(const QString& portName, qint32 baudRate, QObject* parent = nullptr);
+    ~SerialEndpoint() override = default;
+
+    bool open() override;
+    void close() override;
+    bool isOpen() const override { return port_.isOpen(); }
+    qint64 writeBytes(const QByteArray& data) override;
+
+private:
+    QSerialPort port_;
+};

src/core/UdpHubEndpoint.cpp

@@ -0,0 +1,86 @@
+#include "UdpHubEndpoint.hpp"
+#include <QDateTime>
+#include <QDebug>
+
+UdpHubEndpoint::UdpHubEndpoint(quint16 bindPort, QObject* parent)
+    : Endpoint(parent), bindPort_(bindPort)
+{
+    QObject::connect(&gcTimer_, &QTimer::timeout, this, &UdpHubEndpoint::gcPeers_);
+    gcTimer_.setInterval(2000);
+}
+
+bool UdpHubEndpoint::open() {
+    if (sock_.state() == QAbstractSocket::BoundState) return true;
+    bool ok = sock_.bind(QHostAddress::AnyIPv4, bindPort_, QUdpSocket::ShareAddress);
+    if (!ok) {
+        qWarning() << "UdpHubEndpoint: bind failed on port" << bindPort_;
+        return false;
+    }
+    QObject::connect(&sock_, &QUdpSocket::readyRead, this, &UdpHubEndpoint::onReadyRead_);
+    gcTimer_.start();
+    return true;
+}
+
+void UdpHubEndpoint::close() {
+    gcTimer_.stop();
+    sock_.close();
+    peers_.clear();
+    lastSeenMs_.clear();
+}
+
+bool UdpHubEndpoint::isOpen() const {
+    return sock_.state() == QAbstractSocket::BoundState;
+}
+
+qint64 UdpHubEndpoint::writeBytes(const QByteArray& data) {
+    qint64 total = 0;
+    for (const auto& p : peers_) {
+        qint64 n = sock_.writeDatagram(data, p.addr, p.port);
+        if (n > 0) total += n;
+    }
+    return total;
+}
+
+void UdpHubEndpoint::addStaticPeer(const QHostAddress& addr, quint16 port) {
+    upsertPeer_(addr, port);
+}
+
+void UdpHubEndpoint::onReadyRead_() {
+    while (sock_.hasPendingDatagrams()) {
+        QByteArray buf;
+        buf.resize(int(sock_.pendingDatagramSize()));
+        QHostAddress sender; quint16 senderPort = 0;
+        sock_.readDatagram(buf.data(), buf.size(), &sender, &senderPort);
+
+        upsertPeer_(sender, senderPort); // 记录/刷新该 GCS
+        emitRx(buf);                     // 把字节给上层转发到串口
+    }
+}
+
+void UdpHubEndpoint::gcPeers_() {
+    const qint64 now = QDateTime::currentMSecsSinceEpoch();
+    QList<UdpPeer> expired;
+    for (auto it = lastSeenMs_.cbegin(); it != lastSeenMs_.cend(); ++it) {
+        if (now - it.value() > idleMs_) expired.push_back(it.key());
+    }
+    for (const auto& p : expired) {
+        peers_.remove(p);
+        lastSeenMs_.remove(p);
+        emit peerRemoved(p.addr, p.port);
+    }
+}
+
+void UdpHubEndpoint::upsertPeer_(const QHostAddress& a, quint16 p) {
+    UdpPeer peer{a, p};
+
+    bool inserted = false;
+    if (!peers_.contains(peer)) {
+        peers_.insert(peer);  // 返回迭代器，但我们不用
+        inserted = true;
+    }
+
+    lastSeenMs_[peer] = QDateTime::currentMSecsSinceEpoch();
+    if (inserted) {
+        emit peerAdded(a, p);
+    }
+}

src/core/UdpHubEndpoint.hpp

@@ -0,0 +1,51 @@
+#pragma once
+#include "Endpoint.hpp"
+#include <QUdpSocket>
+#include <QHostAddress>
+#include <QSet>
+#include <QMap>
+#include <QTimer>
+
+struct UdpPeer {
+    QHostAddress addr;
+    quint16 port;
+    bool operator==(const UdpPeer& o) const { return addr == o.addr && port == o.port; }
+};
+inline uint qHash(const UdpPeer& p, uint seed = 0) {
+    return qHash(p.addr.toString(), seed) ^ qHash(p.port, seed);
+}
+
+class UdpHubEndpoint : public Endpoint {
+    Q_OBJECT
+public:
+    explicit UdpHubEndpoint(quint16 bindPort, QObject* parent = nullptr);
+
+    bool open() override;
+    void close() override;
+    bool isOpen() const override;
+
+    // 广播：把 data 下发给所有已知 GCS peers
+    qint64 writeBytes(const QByteArray& data) override;
+
+    // 可选：预置白名单
+    void addStaticPeer(const QHostAddress& addr, quint16 port);
+    void setPeerIdleTimeoutMs(int ms) { idleMs_ = ms; }
+
+signals:
+    void peerAdded(const QHostAddress& addr, quint16 port);
+    void peerRemoved(const QHostAddress& addr, quint16 port);
+
+private slots:
+    void onReadyRead_();
+    void gcPeers_();
+
+private:
+    void upsertPeer_(const QHostAddress& a, quint16 p);
+
+    QUdpSocket sock_;
+    quint16 bindPort_;
+    QSet<UdpPeer> peers_;
+    QMap<UdpPeer, qint64> lastSeenMs_;
+    QTimer gcTimer_;
+    int idleMs_ = 30'000; // 30s 无流量剔除
+};

src/main.cpp

@@ -0,0 +1,11 @@
+#include "mainwindow.h"
+
+#include <QApplication>
+
+int main(int argc, char *argv[])
+{
+    QApplication a(argc, argv);
+    MainWindow w;
+    w.show();
+    return a.exec();
+}

src/ui/mainwindow.cpp

@@ -0,0 +1,14 @@
+#include "mainwindow.h"
+#include "ui_mainwindow.h"
+
+MainWindow::MainWindow(QWidget *parent)
+    : QMainWindow(parent)
+    , ui(new Ui::MainWindow)
+{
+    ui->setupUi(this);
+}
+
+MainWindow::~MainWindow()
+{
+    delete ui;
+}

src/ui/mainwindow.h

@@ -0,0 +1,23 @@
+#ifndef MAINWINDOW_H
+#define MAINWINDOW_H
+
+#include <QMainWindow>
+
+QT_BEGIN_NAMESPACE
+namespace Ui {
+class MainWindow;
+}
+QT_END_NAMESPACE
+
+class MainWindow : public QMainWindow
+{
+    Q_OBJECT
+
+public:
+    MainWindow(QWidget *parent = nullptr);
+    ~MainWindow();
+
+private:
+    Ui::MainWindow *ui;
+};
+#endif // MAINWINDOW_H

src/ui/mainwindow.ui

@@ -0,0 +1,31 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>MainWindow</class>
+ <widget class="QMainWindow" name="MainWindow">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>800</width>
+    <height>600</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>MainWindow</string>
+  </property>
+  <widget class="QWidget" name="centralwidget"/>
+  <widget class="QMenuBar" name="menubar">
+   <property name="geometry">
+    <rect>
+     <x>0</x>
+     <y>0</y>
+     <width>800</width>
+     <height>21</height>
+    </rect>
+   </property>
+  </widget>
+  <widget class="QStatusBar" name="statusbar"/>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>